S4 Cradle/charging issues & settings?

Hi there not sure if this is the right section, I have a samsung s4 which replaced my nexus, I'm having issues with the cradle charging dock,
If I get a phone call while its in its cradle it will not let me answer and it just rings out. I swipe and swipe but it won't pick up the call. Has anyone else had this problem?

I also am wondering if I can set the phone to answer as I lift it out of the cradle? That would be super handy for work as I only ever lift it to take calls. Then it would be great if i can set it back to usb tethering once its back in the dock!